unilab.tasks.motion_tracking.g1.manager_terms

G1 profile-specific NumPy manager terms for motion tracking.

Functions

bad_object_orientation(env, command_name, ...)

bad_object_position(env, command_name, threshold)

object_global_orientation_error_exp(env, ...)

object_global_position_error_exp(env, ...)

object_state_b(env, command_name)

Classes

BoxMotionCommand

BoxMotionCommandCfg

Motion command extended with one independently simulated object.

joint_acc_l2

Squared finite-difference joint acceleration with reset-aware state.

joint_torque_l2

Position-controller torque estimate using cold-path actuator gain binding.
class unilab.tasks.motion_tracking.g1.manager_terms.BoxMotionCommand[source]

Bases: MotionCommand

Parameters:
cfg: BoxMotionCommandCfg
__init__(cfg, env)[source]
Parameters:
property box_motion: BoxMotionData
property object_pos_w: ndarray
property object_quat_w: ndarray
property object_state_b: ndarray
post_compute()[source]

Refresh state that depends on committed command-side simulation writes.

Return type:

None

class unilab.tasks.motion_tracking.g1.manager_terms.BoxMotionCommandCfg[source]

Bases: MotionCommandCfg

Motion command extended with one independently simulated object.

Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • params (MotionCommandParamsCfg)

  • object_entity_name (str)

object_entity_name: str
build(env)[source]

Build the command term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

BoxMotionCommand

__init__(*, resampling_time_range, debug_vis=False, entity_name, params, object_entity_name)
Parameters:

  • resampling_time_range (tuple[float, float])

  • debug_vis (bool)

  • entity_name (str)

  • params (MotionCommandParamsCfg)

  • object_entity_name (str)

unilab.tasks.motion_tracking.g1.manager_terms.bad_object_orientation(env, command_name, threshold)[source]
Parameters:

  • env (ManagerBasedRlEnv)

  • command_name (str)

  • threshold (float)

Return type:

ndarray

unilab.tasks.motion_tracking.g1.manager_terms.bad_object_position(env, command_name, threshold)[source]
Parameters:

  • env (ManagerBasedRlEnv)

  • command_name (str)

  • threshold (float)

Return type:

ndarray

class unilab.tasks.motion_tracking.g1.manager_terms.joint_acc_l2[source]

Bases: ManagerTermBase

Squared finite-difference joint acceleration with reset-aware state.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

reset(env_ids)[source]

Resets the manager term.

Parameters:

env_ids (ndarray | slice | None)

Return type:

None

class unilab.tasks.motion_tracking.g1.manager_terms.joint_torque_l2[source]

Bases: ManagerTermBase

Position-controller torque estimate using cold-path actuator gain binding.

Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

__init__(cfg, env)[source]
Parameters:

  • cfg (ManagerTermBaseCfg)

  • env (ManagerBasedRlEnv)

unilab.tasks.motion_tracking.g1.manager_terms.object_global_orientation_error_exp(env, command_name, std)[source]
Parameters:

  • env (ManagerBasedRlEnv)

  • command_name (str)

  • std (float)

Return type:

ndarray

unilab.tasks.motion_tracking.g1.manager_terms.object_global_position_error_exp(env, command_name, std)[source]
Parameters:

  • env (ManagerBasedRlEnv)

  • command_name (str)

  • std (float)

Return type:

ndarray

unilab.tasks.motion_tracking.g1.manager_terms.object_state_b(env, command_name)[source]
Parameters:

  • env (ManagerBasedRlEnv)

  • command_name (str)

Return type:

ndarray